<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.15"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Collision Checker: cpp/collision/src/solvers/collision_solver_primitive.cc Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Collision Checker
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.15 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','Search');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div id="nav-path" class="navpath">
  <ul>
<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li><li class="navelem"><a class="el" href="dir_0bc2acc18702bc40f3a0aa3bc19285f7.html">src</a></li><li class="navelem"><a class="el" href="dir_895084312bb8c246d3fbe6673229b878.html">solvers</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="headertitle">
<div class="title">collision_solver_primitive.cc</div>  </div>
</div><!--header-->
<div class="contents">
<a href="collision__solver__primitive_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//*  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__solver__primitive_8h.html">collision/solvers/collision_solver_primitive.h</a>&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="primitive__collision__queries_8h.html">collision/solvers/primitive_collision_queries.h</a>&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>solverPrimitive {</div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">   10</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;                          <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;                          <span class="keyword">const</span> <span class="keywordtype">char</span> *solver_name) {</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  std::cout &lt;&lt; std::string(<span class="stringliteral">&quot;collision function between object of types &quot;</span>) +</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;                   std::to_string(obj1.<a class="code" href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">getCollisionObjectType</a>()) +</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;                   std::string(<span class="stringliteral">&quot; and &quot;</span>) +</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;                   std::to_string(obj2.<a class="code" href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">getCollisionObjectType</a>()) +</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;                   std::string(<span class="stringliteral">&quot;is not implemented in the solver &quot;</span>) +</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;                   std::string(solver_name)</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;            &lt;&lt; std::endl;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;}</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// critical not to make mistakes</span></div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a0f222e3ff9e38ec7cef3809840227192">   24</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a0f222e3ff9e38ec7cef3809840227192">collide_aabb_aabb</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                              <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2, <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                              <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  res.<a class="code" href="classcollision_1_1_collision_result.html#aefc6062e7307d1b0b6b491b181692a12">set_result</a>(<a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">primitive_queries::collisionDetection</a>(</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;      static_cast&lt;const RectangleAABB &amp;&gt;(obj1),</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      static_cast&lt;const RectangleAABB &amp;&gt;(obj2)));</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;}</div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#aaec98d1d0c4c5573a815dcf65b2d7e7a">   32</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#aaec98d1d0c4c5573a815dcf65b2d7e7a">collide_aabb_obb</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;                             <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2, <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;                             <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  res.<a class="code" href="classcollision_1_1_collision_result.html#aefc6062e7307d1b0b6b491b181692a12">set_result</a>(<a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">primitive_queries::collisionDetection</a>(</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      static_cast&lt;const RectangleAABB &amp;&gt;(obj1),</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      static_cast&lt;const RectangleOBB &amp;&gt;(obj2)));</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;}</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a20fa31875445cd38c28e57846ac50c5e">   40</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a20fa31875445cd38c28e57846ac50c5e">collide_aabb_sphere</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;                                <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;                                <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                                <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="comment">// RectangleAABB&amp;&gt;(obj1), static_cast&lt;const Sphere&amp;&gt;(obj2)));</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;}</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#af83044c0c0014c3f0267d94c0f5f9012">   49</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#af83044c0c0014c3f0267d94c0f5f9012">collide_aabb_triangle</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                                  <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="comment">// RectangleAABB&amp;&gt;(obj1), static_cast&lt;const Triangle&amp;&gt;(obj2)));</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a694f6630aee81adcf46c9feae7fa54ef">   58</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a694f6630aee81adcf46c9feae7fa54ef">collide_aabb_point</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;                               <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  res.<a class="code" href="classcollision_1_1_collision_result.html#aefc6062e7307d1b0b6b491b181692a12">set_result</a>(<a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">primitive_queries::collisionDetection</a>(</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      static_cast&lt;const Point &amp;&gt;(obj2),</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      static_cast&lt;const RectangleAABB &amp;&gt;(obj1)));</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#af6eb66a691d9b49017d55da9e9325bba">   67</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#af6eb66a691d9b49017d55da9e9325bba">collide_obb_aabb</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                             <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2, <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                             <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  res.<a class="code" href="classcollision_1_1_collision_result.html#aefc6062e7307d1b0b6b491b181692a12">set_result</a>(<a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">primitive_queries::collisionDetection</a>(</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      static_cast&lt;const RectangleAABB &amp;&gt;(obj2),</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      static_cast&lt;const RectangleOBB &amp;&gt;(obj1)));</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;}</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a0c6109fa60e432cb36ea1296f2a7ab75">   75</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a0c6109fa60e432cb36ea1296f2a7ab75">collide_obb_obb</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                            <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2, <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                            <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  res.<a class="code" href="classcollision_1_1_collision_result.html#aefc6062e7307d1b0b6b491b181692a12">set_result</a>(<a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">primitive_queries::collisionDetection</a>(</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      static_cast&lt;const RectangleOBB &amp;&gt;(obj1),</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      static_cast&lt;const RectangleOBB &amp;&gt;(obj2)));</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;}</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a81eb73f7500da0d981f47c979b67f831">   83</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a81eb73f7500da0d981f47c979b67f831">collide_obb_sphere</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                               <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="comment">// RectangleOBB&amp;&gt;(obj1), static_cast&lt;const Sphere&amp;&gt;(obj2)));</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;}</div><div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ada92da74d4844fcddc05098191ed772f">   92</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ada92da74d4844fcddc05098191ed772f">collide_obb_triangle</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                                 <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                                 <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                                 <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="comment">// RectangleOBB&amp;&gt;(obj1), static_cast&lt;const Triangle&amp;&gt;(obj2)));</span></div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;}</div><div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a0c527c26b90f0a73f9118d398791d3aa">  101</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a0c527c26b90f0a73f9118d398791d3aa">collide_obb_point</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                              <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2, <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                              <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="comment">// Point&amp;&gt;(obj2), static_cast&lt;const RectangleOBB&amp;&gt;(obj1)));</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;}</div><div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#aebd4fd018c4e748140ff3dfd0bd811ea">  109</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#aebd4fd018c4e748140ff3dfd0bd811ea">collide_sphere_aabb</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                                <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                                <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                                <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="comment">// RectangleAABB&amp;&gt;(obj2), static_cast&lt;const Sphere&amp;&gt;(obj1)));</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;}</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad39d937b287a3439a48d6673e22626d1">  119</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad39d937b287a3439a48d6673e22626d1">collide_sphere_obb</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                               <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="comment">// RectangleOBB&amp;&gt;(obj2), static_cast&lt;const Sphere&amp;&gt;(obj1)));</span></div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ac4820963f6eb8399ac369da204948cb7">  129</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ac4820963f6eb8399ac369da204948cb7">collide_sphere_sphere</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                                  <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="comment">// Sphere&amp;&gt;(obj1), static_cast&lt;const Sphere&amp;&gt;(obj2)));</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;}</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a3002fc379a3e224383dfb4774b4a9675">  139</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a3002fc379a3e224383dfb4774b4a9675">collide_sphere_triangle</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                                    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                                    <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                                    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="comment">// Sphere&amp;&gt;(obj1), static_cast&lt;const Triangle&amp;&gt;(obj2)));</span></div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;}</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#af839a01c900e246e518222247aea4835">  149</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#af839a01c900e246e518222247aea4835">collide_sphere_point</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                                 <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                                 <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                                 <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  res.<a class="code" href="classcollision_1_1_collision_result.html#aefc6062e7307d1b0b6b491b181692a12">set_result</a>(<a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">primitive_queries::collisionDetection</a>(</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      static_cast&lt;const Point &amp;&gt;(obj2), static_cast&lt;const Sphere &amp;&gt;(obj1)));</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;}</div><div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a22ced75714b13c6b4fe6ab4b9107296f">  157</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a22ced75714b13c6b4fe6ab4b9107296f">collide_triangle_aabb</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                                  <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="comment">// RectangleAABB&amp;&gt;(obj2), static_cast&lt;const Triangle&amp;&gt;(obj1)));</span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;}</div><div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a80854e03615a0f2365cf5a3795c14c6e">  166</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a80854e03615a0f2365cf5a3795c14c6e">collide_triangle_obb</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                                 <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                                 <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                                 <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="comment">// RectangleOBB&amp;&gt;(obj2), static_cast&lt;const Triangle&amp;&gt;(obj1)));</span></div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;}</div><div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a86dfd2909e710971cdf0295d18ab408f">  175</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a86dfd2909e710971cdf0295d18ab408f">collide_triangle_sphere</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                                    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                                    <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                                    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="comment">// Sphere&amp;&gt;(obj2), static_cast&lt;const Triangle&amp;&gt;(obj1)));</span></div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;}</div><div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#add20bc37b376b165d6aa0743d6aa90bf">  184</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#add20bc37b376b165d6aa0743d6aa90bf">collide_triangle_triangle</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                                      <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                                      <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                                      <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="comment">// Triangle&amp;&gt;(obj1), static_cast&lt;const Triangle&amp;&gt;(obj2)));</span></div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;}</div><div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#adb5c3eb337d17c3f33cb391ed69e13ae">  193</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#adb5c3eb337d17c3f33cb391ed69e13ae">collide_triangle_point</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                                   <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="comment">// Point&amp;&gt;(obj2), static_cast&lt;const Triangle&amp;&gt;(obj1)));</span></div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;}</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ace78c76c33ef39340dbf39bc1d529c4d">  203</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ace78c76c33ef39340dbf39bc1d529c4d">collide_point_aabb</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                               <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  res.<a class="code" href="classcollision_1_1_collision_result.html#aefc6062e7307d1b0b6b491b181692a12">set_result</a>(<a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">primitive_queries::collisionDetection</a>(</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      static_cast&lt;const Point &amp;&gt;(obj1),</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      static_cast&lt;const RectangleAABB &amp;&gt;(obj2)));</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;}</div><div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a85e8c8e906199bc0867acb621a1ea7e1">  212</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a85e8c8e906199bc0867acb621a1ea7e1">collide_point_obb</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;                              <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2, <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;                              <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="comment">// Point&amp;&gt;(obj1), static_cast&lt;const RectangleOBB&amp;&gt;(obj2)));</span></div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;}</div><div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a9af810bfbc4d405cf694890b88c2598d">  220</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a9af810bfbc4d405cf694890b88c2598d">collide_point_sphere</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                                 <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                                 <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                                 <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  res.<a class="code" href="classcollision_1_1_collision_result.html#aefc6062e7307d1b0b6b491b181692a12">set_result</a>(<a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">primitive_queries::collisionDetection</a>(</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      static_cast&lt;const Point &amp;&gt;(obj1), static_cast&lt;const Sphere &amp;&gt;(obj2)));</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div><div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#af9d8fbf2ce643268011f44efccdea208">  228</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#af9d8fbf2ce643268011f44efccdea208">collide_point_triangle</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                                   <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <span class="comment">// res.set_result(primitive_queries::collisionDetection(static_cast&lt;const</span></div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="comment">// Point&amp;&gt;(obj1), static_cast&lt;const Triangle&amp;&gt;(obj2)));</span></div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">not_implemented_error</a>(obj1, obj2, <span class="stringliteral">&quot;primitiveSolver&quot;</span>);</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;}</div><div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_primitive.html#afb8512b1cfd3b039c731cc491a696618">  237</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#afb8512b1cfd3b039c731cc491a696618">collide_point_point</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                                <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                                <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;                                <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  res.<a class="code" href="classcollision_1_1_collision_result.html#aefc6062e7307d1b0b6b491b181692a12">set_result</a>(<a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">primitive_queries::collisionDetection</a>(</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      static_cast&lt;const Point &amp;&gt;(obj1), static_cast&lt;const Point &amp;&gt;(obj2)));</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;}</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="comment">std::size_t collide_polygon_obj(const CollisionObject&amp; obj1, const</span></div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="comment">CollisionObject&amp; obj2, CollisionResult&amp; res, const CollisionRequest&amp; req)</span></div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="comment">        static solvers::PrimitiveSolver solver;</span></div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="comment">        static CollisionFunctionMatrix matr_primitive(&amp;solver);</span></div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="comment">        std::vector&lt;TriangleConstPtr&gt; mesh_triangles = (static_cast&lt;const</span></div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="comment">Polygon&amp;&gt; (obj1)).getTriangleMesh(); for (auto&amp; obj : mesh_triangles)</span></div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="comment">        {</span></div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="comment">                collide_bool_func_t func =</span></div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="comment">matr_primitive.getSolverBoolFunction(OBJ_TYPE_TRIANGLE,</span></div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="comment">obj2.getCollisionObjectType()); if (!func)</span></div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="comment">                {</span></div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="comment">                        return -1;</span></div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="comment">                }</span></div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="comment">                func(*obj, obj2, res, req);</span></div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="comment">                if (res.collides())</span></div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="comment">                        return 0;</span></div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="comment">        }</span></div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="comment">        return 0;</span></div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="comment">std::size_t collide_polygon_polygon(const CollisionObject&amp; obj1, const</span></div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="comment">CollisionObject&amp; obj2, CollisionResult&amp; res, const CollisionRequest&amp; req)</span></div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="comment">        static solvers::PrimitiveSolver solver;</span></div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="comment">        static CollisionFunctionMatrix matr_primitive(&amp;solver);</span></div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="comment">        std::vector&lt;TriangleConstPtr&gt; mesh_triangles_1 = (static_cast&lt;const</span></div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="comment">Polygon&amp;&gt; (obj1)).getTriangleMesh(); std::vector&lt;TriangleConstPtr&gt;</span></div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="comment">mesh_triangles_2 = (static_cast&lt;const Polygon&amp;&gt; (obj2)).getTriangleMesh(); for</span></div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="comment">(auto&amp; obj1 : mesh_triangles_1)</span></div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;<span class="comment">        {</span></div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="comment">                for (auto&amp; obj2 : mesh_triangles_2)</span></div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="comment">                {</span></div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="comment">                        collide_bool_func_t func =</span></div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="comment">matr_primitive.getSolverBoolFunction(OBJ_TYPE_TRIANGLE, OBJ_TYPE_TRIANGLE); if</span></div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;<span class="comment">(!func)</span></div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="comment">                        {</span></div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="comment">                                return -1;</span></div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;<span class="comment">                        }</span></div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="comment">                        func(*obj1, *obj2, res, req);</span></div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="comment">                        if (res.collides())</span></div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="comment">                                return 0;</span></div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="comment">                }</span></div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="comment">        }</span></div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="comment">        return 0;</span></div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="comment">std::size_t collide_obj_polygon(const CollisionObject&amp; obj1, const</span></div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;<span class="comment">CollisionObject&amp; obj2, CollisionResult&amp; res, const CollisionRequest&amp; req)</span></div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;<span class="comment">        return collide_polygon_obj(obj2, obj1, res, req);</span></div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;<span class="comment">std::size_t collide_shape_group_obj(const CollisionObject&amp; obj1, const</span></div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="comment">CollisionObject&amp; obj2, CollisionResult&amp; res, const CollisionRequest&amp; req)</span></div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="comment">        static solvers::PrimitiveSolver solver;</span></div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="comment">        static CollisionFunctionMatrix matr_primitive(&amp;solver);</span></div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="comment">        std::vector&lt;ShapeConstPtr&gt; sg_objects = (static_cast&lt;const ShapeGroup&amp;&gt;</span></div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="comment">(obj1)).unpack(); for (auto&amp; obj : sg_objects)</span></div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="comment">        {</span></div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;<span class="comment">                collide_bool_func_t func =</span></div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;<span class="comment">matr_primitive.getSolverBoolFunction(obj-&gt;getCollisionObjectType(),</span></div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="comment">obj2.getCollisionObjectType()); if (!func)</span></div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;<span class="comment">                {</span></div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="comment">                        return -1;</span></div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="comment">                }</span></div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="comment">                func(*obj, obj2, res, req);</span></div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;<span class="comment">                if (res.collides())</span></div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;<span class="comment">                        return 0;</span></div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;<span class="comment">        }</span></div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="comment">        return 0;</span></div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="comment">std::size_t collide_obj_shape_group(const CollisionObject&amp; obj1, const</span></div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;<span class="comment">CollisionObject&amp; obj2, CollisionResult&amp; res, const CollisionRequest&amp; req)</span></div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;<span class="comment">        return collide_shape_group_obj(obj2, obj1, res, req);</span></div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;<span class="comment">std::size_t collide_shape_group_shape_group(const CollisionObject&amp; obj1, const</span></div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;<span class="comment">CollisionObject&amp; obj2, CollisionResult&amp; res, const CollisionRequest&amp; req)</span></div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;<span class="comment">        static solvers::PrimitiveSolver solver;</span></div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;<span class="comment">        static CollisionFunctionMatrix matr_primitive(&amp;solver);</span></div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;<span class="comment">        std::vector&lt;ShapeConstPtr&gt; sg_objects_1 = (static_cast&lt;const</span></div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;<span class="comment">ShapeGroup&amp;&gt; (obj1)).unpack(); std::vector&lt;ShapeConstPtr&gt; sg_objects_2 =</span></div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;<span class="comment">(static_cast&lt;const ShapeGroup&amp;&gt; (obj2)).unpack();</span></div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<span class="comment">        for (auto&amp; obj_1 : sg_objects_1)</span></div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;<span class="comment">        {</span></div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;<span class="comment">                for (auto&amp; obj_2 : sg_objects_2)</span></div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="comment">                {</span></div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;<span class="comment">                        collide_bool_func_t func =</span></div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;<span class="comment">matr_primitive.getSolverBoolFunction(obj_1-&gt;getCollisionObjectType(),</span></div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;<span class="comment">obj_2-&gt;getCollisionObjectType()); if (!func)</span></div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;<span class="comment">                        {</span></div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;<span class="comment">                                return -1;</span></div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;<span class="comment">                        }</span></div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;<span class="comment">                        func(*obj_1, *obj_2, res, req);</span></div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;<span class="comment">                        if (res.collides())</span></div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;<span class="comment">                                return 0;</span></div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;<span class="comment">                }</span></div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;<span class="comment">        }</span></div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;<span class="comment">        return 0;</span></div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;<span class="comment">std::size_t collide_tvobst_obj(const CollisionObject&amp; obj1, const</span></div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;<span class="comment">CollisionObject&amp; obj2, CollisionResult&amp; res, const CollisionRequest&amp; req)</span></div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;<span class="comment">        static solvers::PrimitiveSolver solver;</span></div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;<span class="comment">        static CollisionFunctionMatrix matr_primitive(&amp;solver);</span></div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;<span class="comment">        const TimeVariantCollisionObject&amp; tvobst(static_cast&lt;const</span></div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;<span class="comment">TimeVariantCollisionObject&amp;&gt;(obj1)); int time_idx_start =</span></div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;<span class="comment">tvobst.time_start_idx(); int time_idx_end = tvobst.time_end_idx(); for (int cc1</span></div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;<span class="comment">= time_idx_start; cc1 &lt;= time_idx_end; cc1++)</span></div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;<span class="comment">        {</span></div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;<span class="comment">                CollisionObjectConstPtr cur_obj = tvobst.getObstacleAtTime(cc1);</span></div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;<span class="comment">                if (!cur_obj.get())</span></div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;<span class="comment">                {</span></div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;<span class="comment">                        continue;</span></div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;<span class="comment">                }</span></div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;<span class="comment">                if (cur_obj-&gt;getCollisionObjectClass() ==</span></div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;<span class="comment">CollisionObjectClass::OBJ_CLASS_TVOBSTACLE)</span></div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;<span class="comment">                {</span></div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;<span class="comment">                        return -1;</span></div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="comment">                }</span></div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;<span class="comment">                collide_bool_func_t func =</span></div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;<span class="comment">matr_primitive.getSolverBoolFunction(cur_obj-&gt;getCollisionObjectType(),</span></div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;<span class="comment">obj2.getCollisionObjectType()); if (!func)</span></div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;<span class="comment">                {</span></div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;<span class="comment">                        return -1;</span></div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;<span class="comment">                }</span></div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;<span class="comment">                func(*cur_obj, obj2, res, req);</span></div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;<span class="comment">                if (res.collides())</span></div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;<span class="comment">                        return 0;</span></div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;<span class="comment">        }</span></div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;<span class="comment">        return 0;</span></div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;<span class="comment">std::size_t collide_obj_tvobst(const CollisionObject&amp; obj1, const</span></div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;<span class="comment">CollisionObject&amp; obj2, CollisionResult&amp; res, const CollisionRequest&amp; req)</span></div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;<span class="comment">        return collide_tvobst_obj(obj2, obj1, res, req);</span></div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;<span class="comment">std::size_t collide_tvobst_tvobst(const CollisionObject&amp; obj1, const</span></div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;<span class="comment">CollisionObject&amp; obj2, CollisionResult&amp; res, const CollisionRequest&amp; req)</span></div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;<span class="comment">        static solvers::PrimitiveSolver solver;</span></div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;<span class="comment">        static CollisionFunctionMatrix matr_primitive(&amp;solver);</span></div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;<span class="comment">        const TimeVariantCollisionObject&amp; tvobst1(static_cast&lt;const</span></div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;<span class="comment">TimeVariantCollisionObject&amp;&gt;(obj1)); const TimeVariantCollisionObject&amp;</span></div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;<span class="comment">tvobst2(static_cast&lt;const TimeVariantCollisionObject&amp;&gt;(obj2)); int</span></div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;<span class="comment">time_idx_start = std::min(tvobst1.time_start_idx(), tvobst2.time_start_idx());</span></div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;<span class="comment">        int time_idx_end = std::max(tvobst1.time_end_idx(),</span></div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;<span class="comment">tvobst2.time_end_idx());</span></div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;<span class="comment">        for (int cc1 = time_idx_start; cc1 &lt;= time_idx_end; cc1++)</span></div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;<span class="comment">        {</span></div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;<span class="comment">                CollisionObjectConstPtr obst_1 = tvobst1.getObstacleAtTime(cc1);</span></div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;<span class="comment">                CollisionObjectConstPtr obst_2 = tvobst2.getObstacleAtTime(cc1);</span></div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;<span class="comment">                if (!obst_1.get() || !obst_2.get())</span></div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;<span class="comment">                {</span></div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;<span class="comment">                        continue;</span></div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;<span class="comment">                }</span></div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;<span class="comment">                if (obst_1-&gt;getCollisionObjectClass() == OBJ_CLASS_TVOBSTACLE ||</span></div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;<span class="comment">obst_2-&gt;getCollisionObjectClass() == OBJ_CLASS_TVOBSTACLE)</span></div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;<span class="comment">                {</span></div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;<span class="comment">                        return -1;</span></div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;<span class="comment">                }</span></div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;<span class="comment">                collide_bool_func_t func =</span></div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;<span class="comment">matr_primitive.getSolverBoolFunction(obst_1-&gt;getCollisionObjectType(),</span></div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;<span class="comment">obst_2-&gt;getCollisionObjectType()); if (!func)</span></div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;<span class="comment">                {</span></div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;<span class="comment">                        return -1;</span></div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;<span class="comment">                }</span></div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;<span class="comment">                func(*obst_1, *obst_2, res, req);</span></div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;<span class="comment">                if (res.collides())</span></div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;<span class="comment">                        return 0;</span></div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;<span class="comment">        }</span></div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;<span class="comment">        return 0;</span></div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;} <span class="comment">// namespace solverPrimitive</span></div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  <span class="comment">/*</span></div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;<span class="comment">  </span></div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;<span class="comment">  CollisionFunctionMatrix::CollisionFunctionMatrix(const solvers::PrimitiveSolver*</span></div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;<span class="comment">  solver)</span></div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;<span class="comment">  {</span></div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;<span class="comment">          memset(m_collide_bool_function, 0,</span></div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;<span class="comment">  COL_OBJECT_TYPES_COUNT*COL_OBJECT_TYPES_COUNT);</span></div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_AABB_BOX][OBJ_TYPE_AABB_BOX] =</span></div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_aabb_aabb;</span></div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_AABB_BOX][OBJ_TYPE_OBB_BOX] =</span></div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_aabb_obb;</span></div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_AABB_BOX][OBJ_TYPE_SPHERE] =</span></div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_aabb_sphere;</span></div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_AABB_BOX][OBJ_TYPE_TRIANGLE] =</span></div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_aabb_triangle;</span></div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_AABB_BOX][OBJ_TYPE_POINT] =</span></div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_aabb_point;</span></div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_AABB_BOX][OBJ_TYPE_POLYGON] =</span></div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_polygon;</span></div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_AABB_BOX][OBJ_TYPE_SHAPEGROUP] =</span></div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_shape_group;</span></div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_AABB_BOX][OBJ_TYPE_TVOBSTACLE] =</span></div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_tvobst;</span></div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;<span class="comment">  </span></div><div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_OBB_BOX][OBJ_TYPE_AABB_BOX] =</span></div><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obb_aabb;</span></div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_OBB_BOX][OBJ_TYPE_OBB_BOX] =</span></div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obb_obb;</span></div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_OBB_BOX][OBJ_TYPE_SPHERE] =</span></div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obb_sphere;</span></div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_OBB_BOX][OBJ_TYPE_TRIANGLE] =</span></div><div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obb_triangle;</span></div><div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_OBB_BOX][OBJ_TYPE_POINT] =</span></div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obb_point;</span></div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_OBB_BOX][OBJ_TYPE_POLYGON] =</span></div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_polygon;</span></div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_OBB_BOX][OBJ_TYPE_SHAPEGROUP] =</span></div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_shape_group;</span></div><div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_OBB_BOX][OBJ_TYPE_TVOBSTACLE] =</span></div><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_tvobst;</span></div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;<span class="comment">  </span></div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SPHERE][OBJ_TYPE_AABB_BOX] =</span></div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_sphere_aabb;</span></div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SPHERE][OBJ_TYPE_OBB_BOX] =</span></div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_sphere_obb;</span></div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SPHERE][OBJ_TYPE_SPHERE] =</span></div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_sphere_sphere;</span></div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SPHERE][OBJ_TYPE_TRIANGLE] =</span></div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_sphere_triangle;</span></div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SPHERE][OBJ_TYPE_POINT] =</span></div><div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_sphere_point;</span></div><div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SPHERE][OBJ_TYPE_POLYGON] =</span></div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_polygon;</span></div><div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SPHERE][OBJ_TYPE_SHAPEGROUP] =</span></div><div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_shape_group;</span></div><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SPHERE][OBJ_TYPE_TVOBSTACLE] =</span></div><div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_tvobst;</span></div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;<span class="comment">  </span></div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TRIANGLE][OBJ_TYPE_AABB_BOX] =</span></div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_triangle_aabb;</span></div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TRIANGLE][OBJ_TYPE_OBB_BOX] =</span></div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_triangle_obb;</span></div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TRIANGLE][OBJ_TYPE_SPHERE] =</span></div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_triangle_sphere;</span></div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TRIANGLE][OBJ_TYPE_TRIANGLE] =</span></div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_triangle_triangle;</span></div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TRIANGLE][OBJ_TYPE_POINT] =</span></div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_triangle_point;</span></div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TRIANGLE][OBJ_TYPE_POLYGON] =</span></div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_polygon;</span></div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TRIANGLE][OBJ_TYPE_SHAPEGROUP] =</span></div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_shape_group;</span></div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TRIANGLE][OBJ_TYPE_TVOBSTACLE] =</span></div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_tvobst;</span></div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;<span class="comment">  </span></div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POINT][OBJ_TYPE_AABB_BOX] =</span></div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_point_aabb;</span></div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POINT][OBJ_TYPE_OBB_BOX] =</span></div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_point_obb;</span></div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POINT][OBJ_TYPE_SPHERE] =</span></div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_point_sphere;</span></div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POINT][OBJ_TYPE_TRIANGLE] =</span></div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_point_triangle;</span></div><div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POINT][OBJ_TYPE_POINT] =</span></div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_point_point;</span></div><div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POINT][OBJ_TYPE_POLYGON] =</span></div><div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_polygon;</span></div><div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POINT][OBJ_TYPE_SHAPEGROUP] =</span></div><div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_shape_group;</span></div><div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POINT][OBJ_TYPE_TVOBSTACLE] =</span></div><div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_tvobst;</span></div><div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;<span class="comment">  </span></div><div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POLYGON][OBJ_TYPE_AABB_BOX] =</span></div><div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_polygon_obj;</span></div><div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POLYGON][OBJ_TYPE_OBB_BOX] =</span></div><div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_polygon_obj;</span></div><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POLYGON][OBJ_TYPE_SPHERE] =</span></div><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_polygon_obj;</span></div><div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POLYGON][OBJ_TYPE_TRIANGLE] =</span></div><div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_polygon_obj;</span></div><div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POLYGON][OBJ_TYPE_POINT] =</span></div><div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_polygon_obj;</span></div><div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POLYGON][OBJ_TYPE_POLYGON] =</span></div><div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_polygon_polygon;</span></div><div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POLYGON][OBJ_TYPE_SHAPEGROUP] =</span></div><div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_shape_group;</span></div><div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_POLYGON][OBJ_TYPE_TVOBSTACLE] =</span></div><div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_tvobst;</span></div><div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;<span class="comment">  </span></div><div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_AABB_BOX] =</span></div><div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_obj;</span></div><div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_OBB_BOX] =</span></div><div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_obj;</span></div><div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_SPHERE] =</span></div><div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_obj;</span></div><div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_TRIANGLE] =</span></div><div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_obj;</span></div><div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_POINT] =</span></div><div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_obj;</span></div><div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_POLYGON] =</span></div><div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_obj;</span></div><div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_SHAPEGROUP] =</span></div><div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_shape_group;</span></div><div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_TVOBSTACLE] =</span></div><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_tvobst;</span></div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;<span class="comment">  </span></div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_AABB_BOX] =</span></div><div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_obj;</span></div><div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_OBB_BOX] =</span></div><div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_obj;</span></div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_SPHERE] =</span></div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_obj;</span></div><div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_TRIANGLE] =</span></div><div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_obj;</span></div><div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_POINT] =</span></div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_obj;</span></div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_POLYGON] =</span></div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_obj;</span></div><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_SHAPEGROUP] =</span></div><div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_shape_group_shape_group;</span></div><div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_SHAPEGROUP][OBJ_TYPE_TVOBSTACLE] =</span></div><div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_obj_tvobst;</span></div><div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;<span class="comment">  </span></div><div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TVOBSTACLE][OBJ_TYPE_AABB_BOX] =</span></div><div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_tvobst_obj;</span></div><div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TVOBSTACLE][OBJ_TYPE_OBB_BOX] =</span></div><div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_tvobst_obj;</span></div><div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TVOBSTACLE][OBJ_TYPE_SPHERE] =</span></div><div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_tvobst_obj;</span></div><div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TVOBSTACLE][OBJ_TYPE_TRIANGLE] =</span></div><div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_tvobst_obj;</span></div><div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TVOBSTACLE][OBJ_TYPE_POINT] =</span></div><div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_tvobst_obj;</span></div><div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TVOBSTACLE][OBJ_TYPE_POLYGON] =</span></div><div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_tvobst_obj;</span></div><div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TVOBSTACLE][OBJ_TYPE_SHAPEGROUP] =</span></div><div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_tvobst_obj;</span></div><div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;<span class="comment">          m_collide_bool_function[OBJ_TYPE_TVOBSTACLE][OBJ_TYPE_TVOBSTACLE] =</span></div><div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;<span class="comment">  solvers::solverPrimitive::collide_tvobst_tvobst;</span></div><div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;<span class="comment">  }</span></div><div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;} <span class="comment">// namespace solvers</span></div><div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_ace78c76c33ef39340dbf39bc1d529c4d"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#ace78c76c33ef39340dbf39bc1d529c4d">collision::solvers::solverPrimitive::collide_point_aabb</a></div><div class="ttdeci">std::size_t collide_point_aabb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00203">collision_solver_primitive.cc:203</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a3002fc379a3e224383dfb4774b4a9675"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a3002fc379a3e224383dfb4774b4a9675">collision::solvers::solverPrimitive::collide_sphere_triangle</a></div><div class="ttdeci">std::size_t collide_sphere_triangle(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00139">collision_solver_primitive.cc:139</a></div></div>
<div class="ttc" id="primitive__collision__queries_8h_html"><div class="ttname"><a href="primitive__collision__queries_8h.html">primitive_collision_queries.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_af839a01c900e246e518222247aea4835"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#af839a01c900e246e518222247aea4835">collision::solvers::solverPrimitive::collide_sphere_point</a></div><div class="ttdeci">std::size_t collide_sphere_point(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00149">collision_solver_primitive.cc:149</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a80854e03615a0f2365cf5a3795c14c6e"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a80854e03615a0f2365cf5a3795c14c6e">collision::solvers::solverPrimitive::collide_triangle_obb</a></div><div class="ttdeci">std::size_t collide_triangle_obb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00166">collision_solver_primitive.cc:166</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_ac4820963f6eb8399ac369da204948cb7"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#ac4820963f6eb8399ac369da204948cb7">collision::solvers::solverPrimitive::collide_sphere_sphere</a></div><div class="ttdeci">std::size_t collide_sphere_sphere(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00129">collision_solver_primitive.cc:129</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_adb5c3eb337d17c3f33cb391ed69e13ae"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#adb5c3eb337d17c3f33cb391ed69e13ae">collision::solvers::solverPrimitive::collide_triangle_point</a></div><div class="ttdeci">std::size_t collide_triangle_point(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00193">collision_solver_primitive.cc:193</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_ad39d937b287a3439a48d6673e22626d1"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad39d937b287a3439a48d6673e22626d1">collision::solvers::solverPrimitive::collide_sphere_obb</a></div><div class="ttdeci">std::size_t collide_sphere_obb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00119">collision_solver_primitive.cc:119</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a0f222e3ff9e38ec7cef3809840227192"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a0f222e3ff9e38ec7cef3809840227192">collision::solvers::solverPrimitive::collide_aabb_aabb</a></div><div class="ttdeci">std::size_t collide_aabb_aabb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00024">collision_solver_primitive.cc:24</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_aaec98d1d0c4c5573a815dcf65b2d7e7a"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#aaec98d1d0c4c5573a815dcf65b2d7e7a">collision::solvers::solverPrimitive::collide_aabb_obb</a></div><div class="ttdeci">std::size_t collide_aabb_obb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00032">collision_solver_primitive.cc:32</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_af9d8fbf2ce643268011f44efccdea208"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#af9d8fbf2ce643268011f44efccdea208">collision::solvers::solverPrimitive::collide_point_triangle</a></div><div class="ttdeci">std::size_t collide_point_triangle(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00228">collision_solver_primitive.cc:228</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a85e8c8e906199bc0867acb621a1ea7e1"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a85e8c8e906199bc0867acb621a1ea7e1">collision::solvers::solverPrimitive::collide_point_obb</a></div><div class="ttdeci">std::size_t collide_point_obb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00212">collision_solver_primitive.cc:212</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a0c6109fa60e432cb36ea1296f2a7ab75"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a0c6109fa60e432cb36ea1296f2a7ab75">collision::solvers::solverPrimitive::collide_obb_obb</a></div><div class="ttdeci">std::size_t collide_obb_obb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00075">collision_solver_primitive.cc:75</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_af6eb66a691d9b49017d55da9e9325bba"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#af6eb66a691d9b49017d55da9e9325bba">collision::solvers::solverPrimitive::collide_obb_aabb</a></div><div class="ttdeci">std::size_t collide_obb_aabb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00067">collision_solver_primitive.cc:67</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_request_html"><div class="ttname"><a href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a></div><div class="ttdoc">Universal structure specifying collision request properties.</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00026">collision_requests.h:26</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_af83044c0c0014c3f0267d94c0f5f9012"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#af83044c0c0014c3f0267d94c0f5f9012">collision::solvers::solverPrimitive::collide_aabb_triangle</a></div><div class="ttdeci">std::size_t collide_aabb_triangle(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00049">collision_solver_primitive.cc:49</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a9af810bfbc4d405cf694890b88c2598d"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a9af810bfbc4d405cf694890b88c2598d">collision::solvers::solverPrimitive::collide_point_sphere</a></div><div class="ttdeci">std::size_t collide_point_sphere(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00220">collision_solver_primitive.cc:220</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_result_html_aefc6062e7307d1b0b6b491b181692a12"><div class="ttname"><a href="classcollision_1_1_collision_result.html#aefc6062e7307d1b0b6b491b181692a12">collision::CollisionResult::set_result</a></div><div class="ttdeci">bool set_result(bool res)</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00016">collision_requests.h:16</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a0c527c26b90f0a73f9118d398791d3aa"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a0c527c26b90f0a73f9118d398791d3aa">collision::solvers::solverPrimitive::collide_obb_point</a></div><div class="ttdeci">std::size_t collide_obb_point(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00101">collision_solver_primitive.cc:101</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html_a2bc867e40184d64561ceac3f2276f976"><div class="ttname"><a href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">collision::CollisionObject::getCollisionObjectType</a></div><div class="ttdeci">virtual CollisionObjectType getCollisionObjectType() const</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00060">collision_object.h:60</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a22ced75714b13c6b4fe6ab4b9107296f"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a22ced75714b13c6b4fe6ab4b9107296f">collision::solvers::solverPrimitive::collide_triangle_aabb</a></div><div class="ttdeci">std::size_t collide_triangle_aabb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00157">collision_solver_primitive.cc:157</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_afb8512b1cfd3b039c731cc491a696618"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#afb8512b1cfd3b039c731cc491a696618">collision::solvers::solverPrimitive::collide_point_point</a></div><div class="ttdeci">std::size_t collide_point_point(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00237">collision_solver_primitive.cc:237</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_add20bc37b376b165d6aa0743d6aa90bf"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#add20bc37b376b165d6aa0743d6aa90bf">collision::solvers::solverPrimitive::collide_triangle_triangle</a></div><div class="ttdeci">std::size_t collide_triangle_triangle(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00184">collision_solver_primitive.cc:184</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries_html_a7634f2af24f8eae26ac9b137a8255c78"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive_1_1primitive__queries.html#a7634f2af24f8eae26ac9b137a8255c78">collision::solvers::solverPrimitive::primitive_queries::collisionDetection</a></div><div class="ttdeci">bool collisionDetection(const Point &amp;point_first, const Point &amp;point_second)</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__queries_8h_source.html#l00029">primitive_collision_queries.h:29</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_aebd4fd018c4e748140ff3dfd0bd811ea"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#aebd4fd018c4e748140ff3dfd0bd811ea">collision::solvers::solverPrimitive::collide_sphere_aabb</a></div><div class="ttdeci">std::size_t collide_sphere_aabb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00109">collision_solver_primitive.cc:109</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a694f6630aee81adcf46c9feae7fa54ef"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a694f6630aee81adcf46c9feae7fa54ef">collision::solvers::solverPrimitive::collide_aabb_point</a></div><div class="ttdeci">std::size_t collide_aabb_point(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00058">collision_solver_primitive.cc:58</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a81eb73f7500da0d981f47c979b67f831"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a81eb73f7500da0d981f47c979b67f831">collision::solvers::solverPrimitive::collide_obb_sphere</a></div><div class="ttdeci">std::size_t collide_obb_sphere(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00083">collision_solver_primitive.cc:83</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a86dfd2909e710971cdf0295d18ab408f"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a86dfd2909e710971cdf0295d18ab408f">collision::solvers::solverPrimitive::collide_triangle_sphere</a></div><div class="ttdeci">std::size_t collide_triangle_sphere(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00175">collision_solver_primitive.cc:175</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_ada92da74d4844fcddc05098191ed772f"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#ada92da74d4844fcddc05098191ed772f">collision::solvers::solverPrimitive::collide_obb_triangle</a></div><div class="ttdeci">std::size_t collide_obb_triangle(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00092">collision_solver_primitive.cc:92</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a20fa31875445cd38c28e57846ac50c5e"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a20fa31875445cd38c28e57846ac50c5e">collision::solvers::solverPrimitive::collide_aabb_sphere</a></div><div class="ttdeci">std::size_t collide_aabb_sphere(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00040">collision_solver_primitive.cc:40</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_result_html"><div class="ttname"><a href="classcollision_1_1_collision_result.html">collision::CollisionResult</a></div><div class="ttdoc">Structure holding result for a collision request.</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00012">collision_requests.h:12</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_ad5cf2da5804795ef5245ebd6b3944408"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#ad5cf2da5804795ef5245ebd6b3944408">collision::solvers::solverPrimitive::not_implemented_error</a></div><div class="ttdeci">int not_implemented_error(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, const char *solver_name)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00010">collision_solver_primitive.cc:10</a></div></div>
<div class="ttc" id="collision__solver__primitive_8h_html"><div class="ttname"><a href="collision__solver__primitive_8h.html">collision_solver_primitive.h</a></div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.15
</small></address>
</body>
</html>
